Abstract: Systems, devices, and methods are provided for depth-guided structure from motion. A system may obtain a plurality of image frames from a digital content item that corresponds to a scene and determine, based at least in part on a correspondence search, a set of 2-D keypoints for the plurality of image frames. A depth estimator may be used to determine a plurality of dense depth map for the plurality of image frames. The set of 2-D keypoints and the plurality of dense depth maps may be used to determine a corresponding set of depth priors. Initialization and/or depth-regularized optimization may be performed using the keypoints and depth priors.

Abstract: Systems, devices, and methods are provided for depth guided structure from motion. A system may obtain a plurality of image frames from a digital content item that corresponds to a scene and determine, based at least in part on a correspondence search, a set of 2-D keypoints for the plurality of image frames. A depth estimator may be used to determine a plurality of dense depth map for the plurality of image frames. The set of 2-D keypoints and the plurality of dense depth maps may be used to determine a corresponding set of depth priors. Initialization and/or depth-regularized optimization may be performed using the keypoints and depth priors.